Klaman F for GPS reciever

[ryoganand]

Hi,

I'm kind of new for KF, we have some third party device which gives us GP
data like Lat, Long, Error (means how far off it could be from lat an
long). With the limited info I want to build KF around it. With

Z being Lat, Long, V being derived out of value of error.

I'm not able to find optimal values for Q. If i increase value of Q it
not doing good if the object is not moving (drift/jitter of fix). If
reduce Q, the filter is pretty much trusting the measurement.

Any ideas how do i approach this problem.

Thanks,
Yogi